EAGER: Individualized Musculoskeletal Modeling for Diagnosis, Rehabilitation and Real-time Feedback

该项目的目标是通过创建一个建立在关节指数公式的产品上的数据驱动模型，极大地改进肌肉骨骼建模的执行和使用方式。通过使用参数拟合，关节运动链可以适合个人，而不是缩放通用模板，因为通用模板不考虑身体形状和尺寸的巨大差异。该团队将研究一种结构化的、但由数据驱动的方法来建模一个人，从而有可能对关节范围和肌肉限制进行对侧比较，以及与他们的同龄人进行比较。还可以将患者和他们过去的病史进行比较，以便在特定的患者组(脊柱侧弯、老年人、髋关节置换康复)以及与普通人群更好地了解和诊断。PI提出了一种基于分割不同动力学模式确定肌肉激活的混合最优控制方法。这些模式可以考虑到质量或几何约束的变化，例如辅助装置(例如拐杖、助行器或外骨骼)。他们建议将这些肌肉骨骼建模方法应用于老年人的上肢，这些人经历了肌肉无力、关节受损和可能安装了人工假肢。根据这一建议开发的工具可以通过以类似的方式对关节进行建模，来分析任何数量的生物。它扩展到更广泛的机器人社区，在那里机器人运动链可以直接与生物链进行比较。这可以用于机器人设备的遥操作，其中特定的关节可以相互映射。它还增加了可用于设计辅助外骨骼和假肢设备的工具，因为它允许同时对生物和机械关节进行建模-潜在地改进了控制这些设备的方法。该项目团队包括一名来自计算机科学的PI和两名顾问，一名来自机械工程(加州大学伯克利分校)的顾问和一名来自UCDMC的MD，他们在工作空间评估技术、人体建模、人机交互和控制方面拥有丰富的经验。研究成果也将通过大学的各种官方活动向K-12学生及其家长传播。加州大学伯克利分校的社会利益信息技术研究中心(CITRIS)为调查人员提供了一个独特的环境和机会，让他们与其他研究人员、学生和更广泛的公众互动并分享研究成果。

The goal of this project is to vastly improve the way musculosketal modeling is performed and utilized by creating a data driven model that builds on the product of exponentials formulation for joints. By using parameter fitting, a kinematic chain of joints can be fitted the individual rather than scaling a generic template which does not take into account the large diversity in body shapes and sizes. The team will look at a structured, yet data driven approach to modeling a person, making it possible to compare joint ranges and muscular limitations both contralaterally, as well as against their peers. It is also possible to compare a patient and against their past history allowing for better understanding and diagnosis within a specified patient groups (scoliosis, the elderly, hip replacement recovery) as well as with the general population. The PI proposes a hybrid optimal control approach for determining muscular activation based on segmenting different dynamical modes. These modes can take into account changes in mass or geometric constraints such as assistive devices (e.g. crutches walkers or exoskeletons). They propose to apply these methods of musculoskeletal modeling to the upper limbs in the elderly group who experiences muscle weakness, joint damage and may have artificial prostheses.The tools developed under this proposal can be used to analyze any number of biological creatures by modeling their joints in a similar manner. It expands to a wider robotic community where robotic kinematic chains can be directly compared to biological chains. This can be used for teleoperation of robotic devices where particular joints can be mapped between each other. It also adds to the tools that can be used to design assistive exoskeletons and prosthetic devices, as it allows biological and mechanical joints to be modeled in together- potentially improving the methods of controlling these devices. The project team consists of a PI from Computer Science and two consultants, one from Mechanical Engineering (UC Berkeley) and a MD from UCDMC who have extensive experience in workspace assessment techniques, human modeling, human-machine interaction, and control. Research findings will also be outreached to K-12 students and their parents though various official events at the University. The Center for Information Technology Research in the Interest of Society (CITRIS) at UC Berkeley provides a unique environment and opportunity for the investigators to interact and share research findings with other researchers, students, and broader public.